EP3023382B9 - Lift height pre-selection method in an industrial truck - Google Patents

Description

The invention relates to a method for Hubhöhenvorwahl in a truck, according to the preamble of claim 1.

Industrial trucks, which are guided on a mast having a load-carrying means, such as a fork, to handle goods, are used in particular in the form of counterbalanced forklifts or reach trucks in racking. It becomes more expensive for the serving people or drivers with increasing height of the shelves and requires more time to accurately approach the correct lifting height to receive a stored pallet or sell a product in a shelf.

In the prior art, therefore Hubhöhenvorwahlsysteme are known, which help a driver as an assistance system to approach storage bins in a high-bay warehouse, For this purpose, the lifting heights of the shelves of the shelf storage are stored in a control computer. The driver can then select a specific storage space via a control panel of an operating and display device, which is to be approached by the system supported. In addition, for example, by pressing a storage or Auslagertaste the type of startup of the storage bin to be selected. The Hubhöhenvorwahlsystem then moves the desired lifting height then automatically on, or in other embodiments, the lifting movement, which is entered by the driver via an operating lever, stopped at the selected lifting height.

A disadvantage of this prior art, however, that the selection of the desired lifting height is relatively time consuming. Thus, in industrial trucks, which are known in the art, often programmed a very large number of different storage heights and must be selected by a driver. It must different areas of a camp are distinguished in which the lifting heights differ and it must then be selected in each case from a large number of different lifting heights corresponding to the shelves of a high-bay warehouse.

In devices known from the prior art, for example, 160 storage heights can result, which are programmed and sorted into 8 storage areas, each with 20 lifting heights corresponding to the shelves. In a storage operation, therefore, a driver must select the desired shelf, for example via the control panel of the control and display device by entering the storage area and then subsequently a single shelf.

A disadvantage of this prior art is that while the driver performs the information in the operating and input device, he can not operate the working hydraulics of the linear actuator via the operating lever. This results in delays and the handling capacity of the truck is reduced. Also, the name of the shelf for the driver, for example, must be identified by a signage on the shelf. However, this requires that the driver often have to read a compartment number up to the shelf at a greater distance, and then turn to the control and input device on a dashboard by leaning forward to enter the compartment number at a short distance into it , After a subsequent check of the displayed inputs, the driver must then lean back in his seat and the usually arranged in the range of an armrest or right on the seat control lever for the working hydraulics of the lifting drive. Overall, this workflow is not particularly ergonomic.

The programming of the stored lifting heights in the control computer is often carried out as a service or by a fleet manager. This has the disadvantage that the subject numbers, for example, do not have to be arranged monotonically rising. The higher shelf number does not have to correspond to the higher storage position.

In the prior art systems are still known with which a mast or a fork can be automatically adjusted in inclination. In such Systems are either the inclination absolute relative to the vertical or in relation to the truck detected.

In the previously described starting a lift height, it is always necessary to adjust the inclination of the lifting device, for example, with horizontal load forks to pick up or drop a load. Also, for example, when placing a load on a shelf after weaning, the forks must be tilted forward again to move out of the rack, or to prevent slippage of the load, the forks must be tilted backwards when a load rests.

If the driver regulates the inclination of the forklift itself, this leads to delays and results in the problem that, for example, at high lift heights, the driver must do so virtually blind, because he can not see the fork sufficiently well.

Even if the rack height is approached automatically by a Hubhöhenvorwahl, however, intervention by the driver are often required. When using an automatic alignment of the load fork inclination, the problem arises, especially at high lifting heights, that by bending the mast and elasticities, the inclination also changes and this must be compensated. In this case, the inclination changes during the movement in an automated start-up of a lifting height continuously by the effects described, such as a bending of the mast, since the bending increases with increasing the lifting height. However, since a driver can not at the same time make inputs to a control panel for selecting a lift height and can actuate the hydraulic or working hydraulics for the tilt of the load handling device or forklift, further delays, unfavorable operations and the handling capacity of the truck are reduced.

From the DE 31 06 226 C2 is a controller for a forklift known in which simultaneously a predetermined lift height is controlled, while the fork is simultaneously moved to a predetermined tilt position, so that the forklift automatically in a provided for the driving operation of the forklift position arrives. Furthermore, an automated horizontal position of the fork is disclosed.

From the EP 2 527 288 A1 is a method known to Hubhöhenvorwahl.

The present invention has for its object to provide a method for Hubhöhenvorwahl an industrial truck available, which avoids the disadvantages mentioned above and can be done intuitively and efficiently Hubhöhenvorwahl by a driver.

This object is achieved by a method having the features of independent patent claim 1. Advantageous developments of the invention are specified in the subclaims.

The object is achieved in that in a method for Hubhöhenvorwahl in an industrial truck with a load receiving device which is guided vertically movable on a mast, with a control device, a display device and a control for controlling a lifting movement by an operator in a lifting movement the Control device in the display device, the next reached reached, the stored lifting height and upon actuation of a arranged on the operating element for the lifting movement switching element, this lifting height is selected by the control device.

The selection by the switching element takes place in that a previous operation of the switching element is terminated and the function of the switching element for the selection and / or the display of the next reached, stored lifting height is coupled to the simultaneous operation of the operating element for the lifting movement.

Advantageously, it is no longer necessary that an operator or a driver of a truck makes a manual compartment selection. All compartments of a rack are displayed with their stored lifting heights in an order sorted according to the lifting heights. The method can be activated, for example, by an input in a display and control device on a dashboard, are also activated by the switching element, but also be activated in principle. The operator raises or lowers the load handling device via the operating element for controlling the lifting height, for example a joystick with the one working hydraulics is operated with lifting cylinders of a mast, the control device displays in the display device to the next accessible shelf of the shelf. By operating a switching element arranged directly on the operating element for the lifting movement, this can be selected and the lifting movement automatically stops at the selected lifting height. Advantageously, this avoids the non-ergonomic operating order with an upward view for reading a shelf number, entering that shelf with a view downwards, and subsequently reading the values, and finally looking up again for checking. There are many inputs in a display and control device avoided and the approach to a shelf and the lifting movement to a shelf done in a fluid sequence without interruptions This process speeds up and increases the goods handling performance. Since the stored lift heights are always displayed in order of height, they can be intuitively captured and prefiltered, error-free, and corrected for the need to quickly identify individual misses or missing values. By means of a switching element on the operating element for the lifting movement, an operator or a driver can make the selection for the lifting height with one hand and simultaneously with the lifting movement. In addition to an additional switch, in which the choice can be made by a short operation, it is above all advantageous to provide a switching element which is initially operated, for example, held in a switching position, and in which the selection is made by the release of the switching element For example, releasing a switch. The coupling makes it possible to use a switching element for a plurality of functions, which only serves for the selection of a lifting height upon actuation of the operating element for a lifting movement for lifting or lowering.

In a favorable embodiment of the method, the switching element is a push-button switch, which is previously pressed and released for selection.

Advantageously, the control device starts the display of the next reached, stored lifting height in the display device with the actuation of the switching element.

By the switching element, which must be operated before, both the display of the next reached, stored lifting height can be activated, as well as in principle the method as a whole.
be.

Advantageously, the truck has sensor means for detecting a load resting on the load-receiving device and displays the control device at a detected load stored lifting heights for storage and otherwise stored lifting heights for outsourcing.

This allows an automated selection between storage operations and retrieval operations with their respective height differences in the Hubhöhenvorwahl a slightly different value. In particular, the control device of the total number of stored lifting heights then only in each case those for a storage operation or alternatively for a removal process in a lifting movement.

The sensor means may be a light barrier for detecting a pallet on the load handling device.

The sensor means may be a load sensor for detecting a weight resting on the load receiving device.

Advantageously, the control device displays as the next reached lifting heights only those for a storage operation and in the case of entering a selection command in a display and operating device next reached lifting heights for a removal process.

If no load detection is provided, such as, for example, by detecting a pressure in a lifting hydraulics as working hydraulics, it can be provided as a default that those of the programmed lifting heights are displayed for a storage operation. About a manual input in one Operating device can then switch an operator or a driver on an indication of lift heights for Auslagervorgänge.

Advantageously, in this method for Hubhöhenvorwahl at any time an operator or a driver cancel the process and influence by manual inputs.

In an advantageous development of the method, the load-receiving device has a tilting device and the control device adjusts the inclination of the load-bearing device automatically.

Due to this additional function, the automatic adjustment of the inclination of the load receiving device can take place simultaneously during the execution of the previously described method for starting or selecting a lifting height. In this way, by an assistance function, both the start of the correct lifting height and the setting of the inclination of the load receiving means, in particular a horizontal position of the lifting device or vertical position of the lifting mast can be significantly facilitated. Advantageously, the goods handling capacity increases, the truck can be operated more ergonomically, and the movement process becomes easier and more efficient for the driver. In principle, the additional automatic adaptation of the inclination of the load receiving device can be activated together with the previously described method. This can be done by a setting in a control and display device in general or the adjustment of the inclination can be activated by additional tilting elements.

Advantageously, the control device until reaching the selected lifting height, the load receiving device horizontally.

With particular advantage, the correction of the tilt angle of the load receiving device takes place shortly before the selected lifting height is achieved simultaneously with the lifting movement.

As a result, for example, a return inclination of the load receiving device can be maintained for the greater part of the lifting movement and the load can be secured on the load receiving device. Due to the horizontal position, the Load picking device to be introduced both in a stored pallet, as well as a settling of a load with a pallet in a shelf space.

In a favorable development, the control device during lifting or lowering movements to compensate for bending of the mast, the load receiving device in the same absolute inclination, in particular the horizontal, hold.

If a load is lifted to great heights via the mast, bending of the mast occurs, which in turn affects the inclination of the load picking device. If a measuring or detecting device for the inclination of the load receiving device is present as an absolute value relative to the vertical or the ground, this can be compensated by the described method and the control device can keep the load on the device at a selected inclination, especially in the horizontal. Likewise, there may be a rapid change in the inclination of the load receiving device, when a load is placed in a shelf in a high position and vice versa, when a load is absorbed and, for example, the load is lifted from its storage space in the height range of Lagerfachfreihubs. In all these cases, a correction or adjustment of the required inclination of the load receiving device can be carried out automatically at the same time as the lifting movement or the automated handling of the picking up or setting down of a load. The working process becomes more efficient because no parallel operation of a tilting operation device for manually adjusting the inclination of the load handling device and a lift height preselection is required.

Advantageous for the control device, the adaptation of the inclination of the load receiving device, as long as an actuation of a working hydraulics, in particular a lifting movement.

The automatic implementation of the adjustment of the inclination of the load receiving device is thus coupled to the operation of a working hydraulics, in particular the lifting movement. When the method for height selection described above is carried out, the process steps for adapting the inclination of the load receiving device can simultaneously be performed by the controller be carried out as soon as such an adjustment of the inclination is required or makes sense. For example, shortly before reaching the selected lifting height or, when the selection of the next stroke height takes place, the adjustment of the inclination by the control device.

The control device can perform the adjustment of the inclination upon actuation of a tilting switching element, which can be reached by the same hand as for the operation of the operating element for the lifting movement.

As a result, for example, by a driver or operated person manually on request, the automatic adjustment of the inclination can be activated. In particular, the tilting element can be arranged so that it can be operated in parallel with respect to operating elements of the working hydraulics.

The tilting element may correspond to the switching element.

It can be provided that the activation of the adjustment of the inclination is effected by the same switching element as for the selection of the next to be approached lifting height. This can be set, for example, in a display and the control unit. In such a case, a correction of the inclination always takes place with the selection of the next lift height to be approached. Basically, the tilting element can also be constructed so that the activation is triggered by releasing a push-button as a tilting element.

In an advantageous embodiment of the method, the control device terminates the adjustment of the inclination of the load receiving device when a tilting operation device is actuated.

The above-described method for automatically adjusting the inclination may be active until, for example, a load handling operation is completely completed. It can be active as long as a working hydraulics is actuated, in particular a lifting movement takes place, or it can be activated when a tilting switching element is actuated in the sense of a switch. In all these cases, it makes sense and beneficial to stop the automatic adjustment of the tilt when a manual intervention takes place in the operated tilting device for manual control of the inclination of the load receiving device is actuated.

Fig. 1

schematisch ein erfindungsgemäßes Verfahren zur Hubhöhenvorwahl bei einem Flurförderzeug und

Fig. 2

ein Flurförderzeug vor einem Regal, bei dem das erfindungsgemäße Verfahren zur Anwendung kommt.

Further advantages and details of the invention will be explained in more detail with reference to the embodiments illustrated in the schematic figures. This shows

Fig. 1

schematically an inventive method for Hubhöhenvorwahl in a truck and

Fig. 2

an industrial truck in front of a shelf, in which the inventive method is used.

The Fig. 1 schematically shows a method according to the invention for Hubhöhenvorwahl an industrial truck. A control device 1 receives from a lifting height memory 2 the individual subjects of a shelf associated lifting heights. For example, sensor means for detecting a load applied to the load receiving device, the control device 1 also receives a load handling information 3, whether a storage operation or a paging operation must be made, depending on whether a load rests on the load receiving means. The control device 1 carries out automatic sorting 4 of the lifting heights according to their height-wise sequence and generates a display 5 of the next reached lifting height on a display device 6. A driver 7 then selects during a lifting movement by actuation of the switching element a desired lifting height, just as next reached lifting height is displayed continuously during the lifting movement on the display device 6 and can be selected by the driver via a switching element.

The Fig. 2 shows an industrial truck 8 in the form of a reach truck 9 in front of a shelf 10, in which the inventive method is used. The shelf 10 has a plurality of shelves 11, wherein in the example shown in a top shelf 12, a load 13 is stored. The reach truck 9 has a lifting mast 14, on which a load receiving device 15 in the form of a Fork 16 is guided vertically movable.

When the truck 8 moves up to the rack 10, for example, in a region of the shelf, which is indicated by the capital letter "A", from a compartment labeled "A7" at 8 m height, corresponding to the top shelf 12, a load To outsource, the driver starts the lifting movement of the fork 16. During the lifting movement, the driver activates the Hubhöhenvorwahl by pressing a pushbutton, not shown. In a display as a display device, the control device thereupon each represents the next higher shelf 11 and the corresponding lifting height or it is displayed as a process outsourcing because no load on the fork 16 is detected by the sensor means. Just below the top shelf 12, the shelf "A7" is displayed with the stored height of 8m for the removal in the display in the present example. The driver then selects this lift height as Zielhubhöhe by releasing the push button and the Hubhöhenvorwahl stops the lifting movement of the fork 16 at this lifting height. The driver can still control the selection by looking at the display and then manually carry out the unloading process in the following.

Just before the fork 16 reaches the height, the load fork 16 is still aligned in the horizontal position during the lifting movement by the control device 1, so that the load 13 can be accommodated with the fork 16. Also occurring after receiving the load 13 bending the mast 14 can be automatically compensated by the control device 1, for example, before the truck 8 moves backwards to move the load 13 from the shelf 12 out.

Advantageously, no use of an input device on a dashboard of the truck is required in the described process. It can only be done by pressing the switching element on the control element for the stroke control of the truck and thus without changing the line of sight or embracing the hands Hubhöhenvorwahl.

Due to the simultaneous and integrated into the process adaptation of the inclination of the load receiving device 15 results in a further simplification and time savings for the user of the truck. 8

Claims (14)

1. Lift-height pre-selection method in an industrial truck (8) having a load-receiving device (15) which is guided in a vertically movable fashion on a lifting mast (14), having a control device (1), a display device (6) and an operator control element for the control of a lifting movement by an operator, wherein in the case of a lifting movement the control device (1) displays the respective next stored lifting height reached on the display device (6), and when a switching element which is arranged on the operator control element for the lifting movement is activated this lifting height is selected by the control device (1),
   characterized in that
   the selection by the switching element exploits the fact that a previously occurring activation of the switching element is ended, wherein the function of the switching element for the selection and/or display of the respective next stored lifting height reached is coupled to the simultaneous activation of the operator control element for the lifting movement.
2. Method according to Claim 1,
   characterized
   in that the switching element is a push-button switch which is previously pressed and released for the selection.
3. Method according to Claim 1 or 2
   characterized
   in that with the activation of the switching element the control device (1) starts the display of the respective next stored lifting height reached in the display device.
4. Method according to one of Claims 1 to 3,
   characterized
   in that the industrial truck (8) has sensor means for sensing a load resting on the load-receiving device (15), and when a load is sensed the control device (1) displays stored lifting heights for putting into storage and otherwise stored lifting heights for removal from storage.
5. Method according to Claim 4,
   characterized
   in that the sensor means are a photoelectric barrier for detecting a pallet on the load-receiving device (15) .
6. Method according to Claim 4,
   characterized
   in that the sensor means are a load sensor for sensing a weight resting on the load-receiving device (15).
7. Method according to one of Claims 1 to 6,
   characterized
   in that the control device (1) displays as next lifting heights reached only those for a putting into storage process, and if a selection command is input into a display and operator control apparatus said control device (1) displays next lifting heights reached for a removal from storage process.
8. Method according to one of Claims 1 to 7,
   characterized
   in that the load-receiving device (15) has an inclination device, and the control device (1) automatically adapts the inclination of the load-receiving device (15).
9. Method according to Claim 8,
   characterized
   in that the control device (1) keeps the load-receiving device (15) horizontal until the selected lifting height is reached.
10. Method according to Claim 8 or 9,
    characterized
    in that during the lifting or lowering movement the control device (1) keeps the load-receiving device (15) at the same absolute inclination, in particular at the horizontal, in order to compensate bending of the lifting mast (14).
11. Method according to one of Claims 8 to 10,
    characterized
    in that the control device (1) carries out the adaptation of the inclination of the load-receiving device (15) as long as a working hydraulic system is activated, and in particular carries out a lifting movement.
12. Method according to one of Claims 8 to 11,
    characterized
    in that the control device (1) carries out the adaptation of the inclination when an inclination switching element is activated, which inclination switching element can be reached by the same hand as for the activation of the operator control element for the lifting movement.
13. Method according to Claim 8,
    characterized
    in that the inclination switching element corresponds to the switching element.
14. Method according to one of Claims 8 to 13,
    characterized
    in that the control device ends the adaptation of the inclination of the load-receiving device if an inclination operator control device is activated.

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